Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB
A series parallel 7- DOF humanoid mechanical arm is designed and the mathematical model of humanoid mechanical arm is established through integration of kinematics analysis for parallel structure and D-H modeling method. The forward kinematics simulation of humanoid mechanical arm is carried out wit...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.014 |
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| _version_ | 1841548444325380096 |
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| author | Liu Jingjing Peng Junquan Liu Xinhua |
| author_facet | Liu Jingjing Peng Junquan Liu Xinhua |
| author_sort | Liu Jingjing |
| collection | DOAJ |
| description | A series parallel 7- DOF humanoid mechanical arm is designed and the mathematical model of humanoid mechanical arm is established through integration of kinematics analysis for parallel structure and D-H modeling method. The forward kinematics simulation of humanoid mechanical arm is carried out with Robotics toolbox of MATLAB,and then the continuous and smooth planning curves of joints angel and the Cartesian space trajectory of wrist are obtained. The simulation results show that the design parameters of humanoid mechanical arm are reasonable and can provide the basis for the optimal design of humanoid mechanical arm. |
| format | Article |
| id | doaj-art-e100dee0b85a45e388a2f5458e03ef1b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e100dee0b85a45e388a2f5458e03ef1b2025-01-10T14:06:14ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139596229918274Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLABLiu JingjingPeng JunquanLiu XinhuaA series parallel 7- DOF humanoid mechanical arm is designed and the mathematical model of humanoid mechanical arm is established through integration of kinematics analysis for parallel structure and D-H modeling method. The forward kinematics simulation of humanoid mechanical arm is carried out with Robotics toolbox of MATLAB,and then the continuous and smooth planning curves of joints angel and the Cartesian space trajectory of wrist are obtained. The simulation results show that the design parameters of humanoid mechanical arm are reasonable and can provide the basis for the optimal design of humanoid mechanical arm.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.014 |
| spellingShingle | Liu Jingjing Peng Junquan Liu Xinhua Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB Jixie chuandong |
| title | Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB |
| title_full | Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB |
| title_fullStr | Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB |
| title_full_unstemmed | Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB |
| title_short | Forward Kinematics Analysis and Simulation for a Series Parallel Hybrid 7-DOF Humanoid Mechanical Arm based on MATLAB |
| title_sort | forward kinematics analysis and simulation for a series parallel hybrid 7 dof humanoid mechanical arm based on matlab |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.014 |
| work_keys_str_mv | AT liujingjing forwardkinematicsanalysisandsimulationforaseriesparallelhybrid7dofhumanoidmechanicalarmbasedonmatlab AT pengjunquan forwardkinematicsanalysisandsimulationforaseriesparallelhybrid7dofhumanoidmechanicalarmbasedonmatlab AT liuxinhua forwardkinematicsanalysisandsimulationforaseriesparallelhybrid7dofhumanoidmechanicalarmbasedonmatlab |